1 /// @ref gtc_quaternion 2 /// @file glm/gtc/quaternion.hpp 3 /// 4 /// @see core (dependence) 5 /// @see gtc_half_float (dependence) 6 /// @see gtc_constants (dependence) 7 /// 8 /// @defgroup gtc_quaternion GLM_GTC_quaternion 9 /// @ingroup gtc 10 /// 11 /// @brief Defines a templated quaternion type and several quaternion operations. 12 /// 13 /// <glm/gtc/quaternion.hpp> need to be included to use these functionalities. 14 15 #pragma once 16 17 // Dependency: 18 #include "../mat3x3.hpp" 19 #include "../mat4x4.hpp" 20 #include "../vec3.hpp" 21 #include "../vec4.hpp" 22 #include "../gtc/constants.hpp" 23 24 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) 25 # pragma message("GLM: GLM_GTC_quaternion extension included") 26 #endif 27 28 namespace glm 29 { 30 /// @addtogroup gtc_quaternion 31 /// @{ 32 33 template <typename T, precision P = defaultp> 34 struct tquat 35 { 36 // -- Implementation detail -- 37 38 typedef tquat<T, P> type; 39 typedef T value_type; 40 41 // -- Data -- 42 43 # if GLM_HAS_ALIGNED_TYPE 44 # if GLM_COMPILER & GLM_COMPILER_GCC 45 # pragma GCC diagnostic push 46 # pragma GCC diagnostic ignored "-Wpedantic" 47 # endif 48 # if GLM_COMPILER & GLM_COMPILER_CLANG 49 # pragma clang diagnostic push 50 # pragma clang diagnostic ignored "-Wgnu-anonymous-struct" 51 # pragma clang diagnostic ignored "-Wnested-anon-types" 52 # endif 53 54 union 55 { 56 struct { T x, y, z, w;}; 57 typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<P>::value>::type data; 58 }; 59 60 # if GLM_COMPILER & GLM_COMPILER_CLANG 61 # pragma clang diagnostic pop 62 # endif 63 # if GLM_COMPILER & GLM_COMPILER_GCC 64 # pragma GCC diagnostic pop 65 # endif 66 # else 67 T x, y, z, w; 68 # endif 69 70 // -- Component accesses -- 71 72 typedef length_t length_type; 73 /// Return the count of components of a quaternion lengthglm::tquat74 GLM_FUNC_DECL static length_type length(){return 4;} 75 76 GLM_FUNC_DECL T & operator[](length_type i); 77 GLM_FUNC_DECL T const & operator[](length_type i) const; 78 79 // -- Implicit basic constructors -- 80 81 GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR; 82 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const & q) GLM_DEFAULT; 83 template <precision Q> 84 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const & q); 85 86 // -- Explicit basic constructors -- 87 88 GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tquat(ctor); 89 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & s, tvec3<T, P> const & v); 90 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & w, T const & x, T const & y, T const & z); 91 92 // -- Conversion constructors -- 93 94 template <typename U, precision Q> 95 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, Q> const & q); 96 97 /// Explicit conversion operators 98 # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS 99 GLM_FUNC_DECL explicit operator tmat3x3<T, P>(); 100 GLM_FUNC_DECL explicit operator tmat4x4<T, P>(); 101 # endif 102 103 /// Create a quaternion from two normalized axis 104 /// 105 /// @param u A first normalized axis 106 /// @param v A second normalized axis 107 /// @see gtc_quaternion 108 /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors 109 GLM_FUNC_DECL tquat(tvec3<T, P> const & u, tvec3<T, P> const & v); 110 111 /// Build a quaternion from euler angles (pitch, yaw, roll), in radians. 112 GLM_FUNC_DECL GLM_EXPLICIT tquat(tvec3<T, P> const & eulerAngles); 113 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat3x3<T, P> const & m); 114 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat4x4<T, P> const & m); 115 116 // -- Unary arithmetic operators -- 117 118 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m) GLM_DEFAULT; 119 120 template <typename U> 121 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m); 122 template <typename U> 123 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q); 124 template <typename U> 125 GLM_FUNC_DECL tquat<T, P> & operator-=(tquat<U, P> const & q); 126 template <typename U> 127 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q); 128 template <typename U> 129 GLM_FUNC_DECL tquat<T, P> & operator*=(U s); 130 template <typename U> 131 GLM_FUNC_DECL tquat<T, P> & operator/=(U s); 132 }; 133 134 // -- Unary bit operators -- 135 136 template <typename T, precision P> 137 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q); 138 139 template <typename T, precision P> 140 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q); 141 142 // -- Binary operators -- 143 144 template <typename T, precision P> 145 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p); 146 147 template <typename T, precision P> 148 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p); 149 150 template <typename T, precision P> 151 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v); 152 153 template <typename T, precision P> 154 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q); 155 156 template <typename T, precision P> 157 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v); 158 159 template <typename T, precision P> 160 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q); 161 162 template <typename T, precision P> 163 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s); 164 165 template <typename T, precision P> 166 GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q); 167 168 template <typename T, precision P> 169 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s); 170 171 // -- Boolean operators -- 172 173 template <typename T, precision P> 174 GLM_FUNC_DECL bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2); 175 176 template <typename T, precision P> 177 GLM_FUNC_DECL bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2); 178 179 /// Returns the length of the quaternion. 180 /// 181 /// @see gtc_quaternion 182 template <typename T, precision P> 183 GLM_FUNC_DECL T length(tquat<T, P> const & q); 184 185 /// Returns the normalized quaternion. 186 /// 187 /// @see gtc_quaternion 188 template <typename T, precision P> 189 GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q); 190 191 /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... 192 /// 193 /// @see gtc_quaternion 194 template <typename T, precision P, template <typename, precision> class quatType> 195 GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y); 196 197 /// Spherical linear interpolation of two quaternions. 198 /// The interpolation is oriented and the rotation is performed at constant speed. 199 /// For short path spherical linear interpolation, use the slerp function. 200 /// 201 /// @param x A quaternion 202 /// @param y A quaternion 203 /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. 204 /// @tparam T Value type used to build the quaternion. Supported: half, float or double. 205 /// @see gtc_quaternion 206 /// @see - slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a) 207 template <typename T, precision P> 208 GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a); 209 210 /// Linear interpolation of two quaternions. 211 /// The interpolation is oriented. 212 /// 213 /// @param x A quaternion 214 /// @param y A quaternion 215 /// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. 216 /// @tparam T Value type used to build the quaternion. Supported: half, float or double. 217 /// @see gtc_quaternion 218 template <typename T, precision P> 219 GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a); 220 221 /// Spherical linear interpolation of two quaternions. 222 /// The interpolation always take the short path and the rotation is performed at constant speed. 223 /// 224 /// @param x A quaternion 225 /// @param y A quaternion 226 /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. 227 /// @tparam T Value type used to build the quaternion. Supported: half, float or double. 228 /// @see gtc_quaternion 229 template <typename T, precision P> 230 GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a); 231 232 /// Returns the q conjugate. 233 /// 234 /// @see gtc_quaternion 235 template <typename T, precision P> 236 GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q); 237 238 /// Returns the q inverse. 239 /// 240 /// @see gtc_quaternion 241 template <typename T, precision P> 242 GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q); 243 244 /// Rotates a quaternion from a vector of 3 components axis and an angle. 245 /// 246 /// @param q Source orientation 247 /// @param angle Angle expressed in radians. 248 /// @param axis Axis of the rotation 249 /// 250 /// @see gtc_quaternion 251 template <typename T, precision P> 252 GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis); 253 254 /// Returns euler angles, pitch as x, yaw as y, roll as z. 255 /// The result is expressed in radians if GLM_FORCE_RADIANS is defined or degrees otherwise. 256 /// 257 /// @see gtc_quaternion 258 template <typename T, precision P> 259 GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x); 260 261 /// Returns roll value of euler angles expressed in radians. 262 /// 263 /// @see gtx_quaternion 264 template <typename T, precision P> 265 GLM_FUNC_DECL T roll(tquat<T, P> const & x); 266 267 /// Returns pitch value of euler angles expressed in radians. 268 /// 269 /// @see gtx_quaternion 270 template <typename T, precision P> 271 GLM_FUNC_DECL T pitch(tquat<T, P> const & x); 272 273 /// Returns yaw value of euler angles expressed in radians. 274 /// 275 /// @see gtx_quaternion 276 template <typename T, precision P> 277 GLM_FUNC_DECL T yaw(tquat<T, P> const & x); 278 279 /// Converts a quaternion to a 3 * 3 matrix. 280 /// 281 /// @see gtc_quaternion 282 template <typename T, precision P> 283 GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x); 284 285 /// Converts a quaternion to a 4 * 4 matrix. 286 /// 287 /// @see gtc_quaternion 288 template <typename T, precision P> 289 GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x); 290 291 /// Converts a 3 * 3 matrix to a quaternion. 292 /// 293 /// @see gtc_quaternion 294 template <typename T, precision P> 295 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x); 296 297 /// Converts a 4 * 4 matrix to a quaternion. 298 /// 299 /// @see gtc_quaternion 300 template <typename T, precision P> 301 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x); 302 303 /// Returns the quaternion rotation angle. 304 /// 305 /// @see gtc_quaternion 306 template <typename T, precision P> 307 GLM_FUNC_DECL T angle(tquat<T, P> const & x); 308 309 /// Returns the q rotation axis. 310 /// 311 /// @see gtc_quaternion 312 template <typename T, precision P> 313 GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x); 314 315 /// Build a quaternion from an angle and a normalized axis. 316 /// 317 /// @param angle Angle expressed in radians. 318 /// @param axis Axis of the quaternion, must be normalized. 319 /// 320 /// @see gtc_quaternion 321 template <typename T, precision P> 322 GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis); 323 324 /// Returns the component-wise comparison result of x < y. 325 /// 326 /// @tparam quatType Floating-point quaternion types. 327 /// 328 /// @see gtc_quaternion 329 template <typename T, precision P> 330 GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y); 331 332 /// Returns the component-wise comparison of result x <= y. 333 /// 334 /// @tparam quatType Floating-point quaternion types. 335 /// 336 /// @see gtc_quaternion 337 template <typename T, precision P> 338 GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y); 339 340 /// Returns the component-wise comparison of result x > y. 341 /// 342 /// @tparam quatType Floating-point quaternion types. 343 /// 344 /// @see gtc_quaternion 345 template <typename T, precision P> 346 GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y); 347 348 /// Returns the component-wise comparison of result x >= y. 349 /// 350 /// @tparam quatType Floating-point quaternion types. 351 /// 352 /// @see gtc_quaternion 353 template <typename T, precision P> 354 GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y); 355 356 /// Returns the component-wise comparison of result x == y. 357 /// 358 /// @tparam quatType Floating-point quaternion types. 359 /// 360 /// @see gtc_quaternion 361 template <typename T, precision P> 362 GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y); 363 364 /// Returns the component-wise comparison of result x != y. 365 /// 366 /// @tparam quatType Floating-point quaternion types. 367 /// 368 /// @see gtc_quaternion 369 template <typename T, precision P> 370 GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y); 371 372 /// Returns true if x holds a NaN (not a number) 373 /// representation in the underlying implementation's set of 374 /// floating point representations. Returns false otherwise, 375 /// including for implementations with no NaN 376 /// representations. 377 /// 378 /// /!\ When using compiler fast math, this function may fail. 379 /// 380 /// @tparam genType Floating-point scalar or vector types. 381 template <typename T, precision P> 382 GLM_FUNC_DECL tvec4<bool, P> isnan(tquat<T, P> const & x); 383 384 /// Returns true if x holds a positive infinity or negative 385 /// infinity representation in the underlying implementation's 386 /// set of floating point representations. Returns false 387 /// otherwise, including for implementations with no infinity 388 /// representations. 389 /// 390 /// @tparam genType Floating-point scalar or vector types. 391 template <typename T, precision P> 392 GLM_FUNC_DECL tvec4<bool, P> isinf(tquat<T, P> const & x); 393 394 /// @} 395 } //namespace glm 396 397 #include "quaternion.inl" 398